CN110159709A - Harmonic speed-increasing device - Google Patents
Harmonic speed-increasing device Download PDFInfo
- Publication number
- CN110159709A CN110159709A CN201910534698.8A CN201910534698A CN110159709A CN 110159709 A CN110159709 A CN 110159709A CN 201910534698 A CN201910534698 A CN 201910534698A CN 110159709 A CN110159709 A CN 110159709A
- Authority
- CN
- China
- Prior art keywords
- increasing device
- shell
- gear
- harmonic speed
- flexible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000004907 gland Anatomy 0.000 claims description 22
- 238000000465 moulding Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention provides a kind of harmonic speed-increasing devices, are related to speed increaser technical field, to provide a kind of structure of new speed increaser.The device includes harmonic oscillator, rigid gear and flexible gear, wherein, there are cam-like structure and flexible gear is set in cam-like structure on harmonic oscillator, rigid gear is set in the region that on flexible gear and flexible gear is in contact with rigid gear and passes through tooth engagement, and flexible gear is driving wheel and flexible gear can drive the output shaft being connected with harmonic oscillator to rotate.The present invention is used to improve a kind of novel speed increaser of small volume.
Description
Technical field
The present invention relates to speed increaser technical fields, more particularly, to a kind of harmonic speed-increasing device.
Background technique
Harmonic wave drive speed reducer (harmonic speed reducer), mainly by harmonic oscillator, compliant wheel, flexible bearing, rigid wheel four
A basic building block composition, compliant wheel and flexible bearing are assemblied on harmonic oscillator, and harmonic oscillator can make compliant wheel generation can
The deformation of control, so that compliant wheel is meshed with rigid wheel carrys out the gear drive of passing movement and power.Harmonic speed reducer it is specific
Working condition is as follows: the perimeter of harmonic oscillator is equal to flexible bearing internal diameter perimeter, and compliant wheel supports ovalisation, forces compliant wheel
It is at a fully engaged in elliptical long axis direction and fixed rigid wheel, it is kept completely separate in short-axis direction, when rigid wheel is fixed and harmonic wave
When generator rotates counterclockwise, compliant wheel is then rotated clockwise.
Applicants have discovered that at least there is following technical problem in the prior art:
Existing speed increaser is that speedup is realized so that the large gear turn the small gear mostly, few according to harmonic wave drive speed reducer
Working principle and the harmonic speed-increasing device that makes.
Summary of the invention
The purpose of the present invention is to provide a kind of harmonic speed-increasing devices, provide a kind of structure of new speed increaser.The present invention
Many technical effects elaboration as detailed below that the optimal technical scheme in many technical solutions provided can be generated.
To achieve the above object, the present invention provides following technical schemes:
A kind of harmonic speed-increasing device provided by the invention, including harmonic oscillator, rigid gear and flexible gear, wherein institute
It states on harmonic oscillator there are cam-like structure and the flexible gear is set in the cam-like structure, the rigid gear
It is set in the region that on the flexible gear and the flexible gear is in contact with the rigid gear and passes through tooth engagement, it is described soft
Property gear be that driving wheel and the flexible gear can drive the output shaft being connected with the harmonic oscillator to rotate.
Preferably, the harmonic oscillator includes cam, and the cam is connected with the output shaft and the two is integrated
Molding structure.
Preferably, the harmonic oscillator further includes flexible bearing, and the flexible bearing is set on the cam, described
Flexible gear is set on the flexible bearing, and the cam and the flexible bearing form the cam-like structure.
Preferably, the harmonic speed-increasing device further includes shell, and the inside of the shell and institute is arranged in the rigid gear
Rigid gear is stated to be an integral molding structure with the shell.
Preferably, the flexible gear is arranged in the shell of the harmonic speed-increasing device, sets on the medial surface of the shell
It is equipped with recessed cavity, the recessed cavity is distributed in the circumferential direction of the shell, and the recessed cavity is located at the rigidity
The side of gear.
Preferably, the harmonic speed-increasing device further includes input shaft bearing, and the input shaft bearing is arranged in the harmonic speed-increasing device
One end of the shell and outer ring of the input shaft bearing is connected with the shell, the flexible gear be arranged in the shell and
The inner ring of the input shaft bearing is connected with the flexible gear.
Preferably, the harmonic speed-increasing device further includes gland, and the gland is inserted into the centre bore of the input shaft bearing and institute
It states gland to be connected with the inner ring of the input shaft bearing, the output shaft is inserted into the gland and passes through bearing part phase between the two
Connection.
Preferably, the shell is provided with convex portion on the end face of the input shaft bearing, and the convex portion is stretched
Enter the input shaft bearing.
Preferably, the harmonic speed-increasing device further includes output end cap, and the output end cap is arranged in the harmonic speed-increasing device
The other end and the two of shell are connected, and the output shaft passes through the output end cap and the output end cap passes through bearing part branch
Support is covered in the output end.
Preferably, end cap interconnecting piece is provided on the lateral wall of the shell, the end cap interconnecting piece is at annular structure
And the end cap interconnecting piece is connected with the output end cap.
The purpose of the present invention is to provide a kind of harmonic speed-increasing device, flexible gear be driving wheel and flexible gear can drive with
The output shaft rotation that harmonic oscillator is connected, to provide a kind of structure of new speed increaser.
Optimal technical scheme of the present invention can also at least have the following technical effects:
Output shaft is an integral molding structure with cam, avoids the assembly of cam and output shaft, and transmission precision reduces complete machine time
Difference；
Rigid gear and shell are an integral molding structure the intensity to improve rigid gear；
Gland is inserted into the centre bore of input shaft bearing, and output shaft is inserted into gland and is connected between the two by bearing part, made
Obtain the compact-sized, small in size of harmonic speed-increasing device.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the schematic cross-sectional view of harmonic speed-increasing device provided in an embodiment of the present invention.
1- harmonic oscillator in figure；11- output shaft；12- cam；13- flexible bearing；2- rigid gear；3- flexible gear；
4- input shaft bearing；5- shell；51- convex portion；52- end cap interconnecting piece；53- recessed cavity；6- gland；7- bearing part；8- is defeated
End cap out.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
Referring to Fig. 1, the present invention provides a kind of harmonic speed-increasing devices, including harmonic oscillator 1, rigid gear 2 and flexible tooth
Wheel 3, wherein there are cam-like structure and flexible gear 3 is set in cam-like structure on harmonic oscillator 1,2 sets of rigid gear
It is located at the region that on flexible gear 3 and flexible gear 3 is in contact with rigid gear 2 and passes through tooth engagement, flexible gear 3 is driving wheel
And flexible gear 3 can drive the output shaft 11 being connected with harmonic oscillator 1 to rotate.Existing is harmonic wave drive speed reducer mostly,
I.e. harmonic oscillator is connected with driving shaft, compliant wheel or rigid wheel are connected as power output wheel with output shaft, the present invention
A kind of harmonic speed-increasing device is provided, transmission process is the reverse process of conventional harmonic retarder, and flexible gear 3 is used as driving wheel,
Since the region that flexible gear 3 is in contact with rigid gear 2 passes through tooth engagement, flexible gear 3 squeezes harmonic oscillator when rotating
1,1 quick rotation of harmonic oscillator, so that 11 quick rotation of output shaft being connected with harmonic oscillator 1, realizes speedup
Purpose；It is small in size, cost is relatively low the present invention provides a kind of harmonic speed-increasing device.
As optionally embodiment of the embodiment of the present invention, referring to Fig. 1, harmonic oscillator 1 includes cam 12, cam 12 with
Output shaft 11 is connected and the two is an integral molding structure.Output shaft 11 is an integral molding structure with cam 12, avoids cam 12
With the assembly of output shaft 11, transmission precision reduces complete machine return difference.Harmonic oscillator 1 further includes flexible bearing 13, flexible bearing 13
It is set on cam 12, flexible gear 3 is set on flexible bearing 13, and cam 12 and flexible bearing 13 form cam-like knot
Structure.The flexible gear 3 on flexible bearing 13 is set in ellipticity, both ends and 2 phase of rigid gear of 3 long axis direction of flexible gear
It contacts, has spacing between the both ends and rigid gear 2 on short-axis direction.
As the embodiment of the present invention, optionally embodiment, harmonic speed-increasing device further include shell 5, and the setting of rigid gear 2 exists
The inside of shell 5 and rigid gear 2 is an integral molding structure with shell 5.Rigid gear 2 and shell 5 are an integral molding structure can
To improve the intensity of rigid gear 2.
As the embodiment of the present invention, optionally embodiment, flexible gear 3 are arranged in the shell 5 of harmonic speed-increasing device, shell
Recessed cavity 53 is provided on the medial surface of body 5, recessed cavity 53 is distributed in the circumferential direction of shell 5, and recessed cavity 53
In the side of rigid gear 2.Referring to Fig. 1, due to the setting of recessed cavity 53, primarily to reducing the weight of shell 5, save
Material, while making have spacing between the circumferential side wall of flexible gear 3 and the inner sidewall of shell 5, avoid shell 5 to flexible gear
3 interference, it may have the effect of certain aesthetics.
As optionally embodiment of the embodiment of the present invention, referring to Fig. 1, harmonic speed-increasing device further includes input shaft bearing 4, input
Bearing 4 is arranged in one end of harmonic speed-increasing device shell 5 and the outer ring of input shaft bearing 4 and is connected with shell 5, and flexible gear 3 is arranged
In shell 5 and the inner ring of input shaft bearing 4 is connected with flexible gear 3.When flexible gear 3 rotates, the inner ring of input shaft bearing 4
Also flexible gear 3 rotates therewith, and the outer ring of input shaft bearing 4 is connected with shell 5, and the outer ring of input shaft bearing 4 does not occur to turn
It is dynamic.
As the embodiment of the present invention, optionally embodiment, harmonic speed-increasing device further include gland 6, and gland 6 is inserted into input shaft
It holds 4 centre bore and gland 6 is connected with the inner ring of input shaft bearing 4, output shaft 11 is inserted into gland 6 and passes through bearing between the two
Part 7 is connected.Referring to Fig. 1, flexible gear 3 is clipped between gland 6 and input shaft bearing 4, and connector sequentially passes through input shaft bearing 4
Inner ring, flexible gear 3 and gland 6 three is connected, the inner wrap strip dynamic pressure lid 6 of input shaft bearing 4 rotates；The one of output shaft 11
End is supported on gland 6 by bearing part 7, so that harmonic speed-increasing device is compact-sized, small in size；Output shaft 11 and bearing part 7
Inner ring be connected, gland 6 is connected with the outer ring of bearing part 7, with realize one end of output shaft 11 be supported on gland 6 and with
Gland 6 is rotatablely connected.Referring to Fig. 1, annular mounting groove is provided on the inner sidewall of gland 6, bearing part 7 can be set pacifies in annular
In tankage.
As optionally embodiment of the embodiment of the present invention, referring to Fig. 1, shell 5 is arranged on the end face of input shaft bearing 4
There is convex portion 51, convex portion 51 protrudes into input shaft bearing 4.Convex portion 51 is determined for the ease of shell 5 and input shaft bearing 4
Position cooperation, convex portion 51 can be matched with the inner sidewall of 4 outer ring of input shaft bearing.
As the embodiment of the present invention, optionally embodiment, harmonic speed-increasing device further include output end cap 8, and output end cap 8 is set
The other end and the two set in harmonic speed-increasing device shell 5 are connected, and output shaft 11 passes through output end cap 8 and output end cap 8 passes through
Bearing part 7 is supported on output end cap 8；End cap interconnecting piece 52 is provided on the lateral wall of shell 5, end cap interconnecting piece 52 is at annulus
Shape structure and end cap interconnecting piece 52 are connected with output end cap 8.
Harmonic speed-increasing device transmission principle provided by the invention is specific as follows:
Referring to Fig. 1, shell 5 (rigid gear 2 and shell 5 are an integral molding structure) is fixed, and input shaft bearing 4 is power input
The outer ring of device, input shaft bearing 4 is connected with shell 5 by screw, and the inner ring of input shaft bearing 4 is connected with flexible gear 3, convex
Wheel 12 makes flexible gear 3 be deformed wave by the extrusion deformation of flexible bearing 13, and flexible gear 3 is in contact with rigid gear 2
Part is by tooth engagement, and rigid gear 2 is different from the number of teeth of flexible gear 3, and (general flexible gear 3 is compared to 2 tooth of rigid gear
Number is few)；Flexible gear 3 is driven to rotate when input shaft bearing 4 rotates, squeezing flexible bearing 13 by cam 12 makes flexible gear 3
It is engaged with 2 part of rigid gear, harmonic oscillator 1,1 quick rotation of harmonic oscillator, thus real is squeezed when flexible gear 3 rotates
Existing speedup purpose.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of harmonic speed-increasing device, which is characterized in that including harmonic oscillator (1), rigid gear (2) and flexible gear (3),
In,
There are cam-like structure and the flexible gear (3) is set in the cam-like structure on the harmonic oscillator (1),
The rigid gear (2) is set on the flexible gear (3) and the flexible gear (3) connects with the rigid gear (2)
The region of touching is by tooth engagement, and the flexible gear (3) is driving wheel and the flexible gear (3) can drive and send out with the harmonic wave
Output shaft (11) rotation that raw device (1) is connected.
2. harmonic speed-increasing device according to claim 1, which is characterized in that the harmonic oscillator (1) includes cam (12),
The cam (12) is connected with the output shaft (11) and the two is an integral molding structure.
3. harmonic speed-increasing device according to claim 2, which is characterized in that the harmonic oscillator (1) further includes flexible shaft
It holds (13), the flexible bearing (13) is set on the cam (12), and the flexible gear (3) is set in the flexible bearing
(13) on, the cam (12) and the flexible bearing (13) form the cam-like structure.
4. harmonic speed-increasing device according to claim 1, which is characterized in that the harmonic speed-increasing device further includes shell (5), institute
State rigid gear (2) setting the shell (5) inside and the rigid gear (2) be integrally formed with the shell (5)
Structure.
5. harmonic speed-increasing device according to claim 1 or 4, which is characterized in that the flexible gear (3) is arranged described humorous
In the shell (5) of wave speed increaser, it is provided with recessed cavity (53) on the medial surface of the shell (5), the recessed cavity (53)
It is distributed in the circumferential direction of the shell (5), the recessed cavity (53) is located at the side of the rigid gear (2).
6. harmonic speed-increasing device according to claim 1, which is characterized in that the harmonic speed-increasing device further includes input shaft bearing
(4), the input shaft bearing (4) setting the harmonic speed-increasing device shell (5) one end and the input shaft bearing (4) outer ring with
The shell (5) is connected, the flexible gear (3) setting in the shell (5) and the inner ring of the input shaft bearing (4) with
The flexible gear (3) is connected.
7. harmonic speed-increasing device according to claim 6, which is characterized in that the harmonic speed-increasing device further includes gland (6), institute
The centre bore and the gland (6) for stating gland (6) insertion input shaft bearing (4) are connected with the inner ring of the input shaft bearing (4)
It connects, the output shaft (11) is inserted into the gland (6) and is connected between the two by bearing part (7).
8. harmonic speed-increasing device according to claim 6, which is characterized in that the shell (5) is close to the input shaft bearing (4)
End face on be provided with convex portion (51), the convex portion (51) protrudes into the input shaft bearing (4).
9. harmonic speed-increasing device according to claim 1 or 6, which is characterized in that the harmonic speed-increasing device further includes output end
It covers (8), output end cap (8) setting is connected in the other end and the two of the harmonic speed-increasing device shell (5), the output
Axis (11) passes through the output end cap (8) and the output end cap (8) passes through bearing part (7) and is supported on the output end cap (8)
On.
10. harmonic speed-increasing device according to claim 9, which is characterized in that be provided with end on the lateral wall of the shell (5)
Lid interconnecting piece (52), the end cap interconnecting piece (52) is at annular structure and the end cap interconnecting piece (52) and the output end cap
(8) it is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910534698.8A CN110159709A (en) | 2019-06-20 | 2019-06-20 | Harmonic speed-increasing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910534698.8A CN110159709A (en) | 2019-06-20 | 2019-06-20 | Harmonic speed-increasing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110159709A true CN110159709A (en) | 2019-08-23 |
Family
ID=67626244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910534698.8A Pending CN110159709A (en) | 2019-06-20 | 2019-06-20 | Harmonic speed-increasing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110159709A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001234988A (en) * | 2000-02-22 | 2001-08-31 | Harmonic Drive Technologies-Teijin Seiki Boston Inc | Harmonic drive bearing structure |
| JP2005054981A (en) * | 2004-03-19 | 2005-03-03 | Masahiro Kurita | Harmonic drive reduction gear, motor with reduction gear and driving system |
| CN103438158A (en) * | 2013-09-09 | 2013-12-11 | 南京信息工程大学 | Compact harmonic speed reducer |
| CN104595425A (en) * | 2014-12-18 | 2015-05-06 | 陕西渭河工模具有限公司 | Harmonic reducer with short barrel-shaped flexible wheel |
| CN205036819U (en) * | 2015-09-23 | 2016-02-17 | 浙江来福谐波传动股份有限公司 | Compact structure's duplex bearing harmonic speed reducer ware |
| CN205534040U (en) * | 2016-04-06 | 2016-08-31 | 南通慧幸智能科技有限公司 | Bearing capacity harmonic gear reduction gear when variably slows down |
| CN205877138U (en) * | 2016-07-26 | 2017-01-11 | 广州市昊志机电股份有限公司 | Adopt well casement harmonic speed reducer ware of cup -shape flexspline |
| CN107100982A (en) * | 2017-05-16 | 2017-08-29 | 王家梁 | A kind of zero return difference harmonic gear transmission device |
| EP3270002A1 (en) * | 2016-07-12 | 2018-01-17 | Nabtesco Corporation | Gear device |
| CN210265707U (en) * | 2019-06-20 | 2020-04-07 | 廊坊市钦纵传动科技有限公司 | Harmonic speed increaser |
-
2019
- 2019-06-20 CN CN201910534698.8A patent/CN110159709A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001234988A (en) * | 2000-02-22 | 2001-08-31 | Harmonic Drive Technologies-Teijin Seiki Boston Inc | Harmonic drive bearing structure |
| JP2005054981A (en) * | 2004-03-19 | 2005-03-03 | Masahiro Kurita | Harmonic drive reduction gear, motor with reduction gear and driving system |
| CN103438158A (en) * | 2013-09-09 | 2013-12-11 | 南京信息工程大学 | Compact harmonic speed reducer |
| CN104595425A (en) * | 2014-12-18 | 2015-05-06 | 陕西渭河工模具有限公司 | Harmonic reducer with short barrel-shaped flexible wheel |
| CN205036819U (en) * | 2015-09-23 | 2016-02-17 | 浙江来福谐波传动股份有限公司 | Compact structure's duplex bearing harmonic speed reducer ware |
| CN205534040U (en) * | 2016-04-06 | 2016-08-31 | 南通慧幸智能科技有限公司 | Bearing capacity harmonic gear reduction gear when variably slows down |
| EP3270002A1 (en) * | 2016-07-12 | 2018-01-17 | Nabtesco Corporation | Gear device |
| CN205877138U (en) * | 2016-07-26 | 2017-01-11 | 广州市昊志机电股份有限公司 | Adopt well casement harmonic speed reducer ware of cup -shape flexspline |
| CN107100982A (en) * | 2017-05-16 | 2017-08-29 | 王家梁 | A kind of zero return difference harmonic gear transmission device |
| CN210265707U (en) * | 2019-06-20 | 2020-04-07 | 廊坊市钦纵传动科技有限公司 | Harmonic speed increaser |
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